Combined Optimal Control Technique for Robot Manipulators

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F46747885%3A24220%2F11%3A%230002143" target="_blank" >RIV/46747885:24220/11:#0002143 - isvavai.cz</a>

Výsledek na webu

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DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

Combined Optimal Control Technique for Robot Manipulators

Popis výsledku v původním jazyce

A combined optimal control method for robot manipulators is presented. The approach includes iterative linearization (IL), iterative learning control (ILC) and parametric optimization. The robot is assumed to perform a repeated task such as pick and place parts in an assembly line. Accordingly, in each trial in which the robot performs the task, a linear time variant (LTV) version of its nonlinear dynamics model is obtained (using IL) and at the same time an optimal control input for this LTV is computed by a parametric optimization method. The optimal solution of each trial is stored in memory of the system to compute the optimal solution in the next trial (ILC). This procedure is repeated so that after a finite number of trials, the sequence of optimal solution of LTVs converges to the robot?s optimal control input. Two outstanding features of this method consist in the fact that the optimal control problem is solved gradually during some trials while the time necessary to compute th

Název v anglickém jazyce

Combined Optimal Control Technique for Robot Manipulators

Popis výsledku anglicky

A combined optimal control method for robot manipulators is presented. The approach includes iterative linearization (IL), iterative learning control (ILC) and parametric optimization. The robot is assumed to perform a repeated task such as pick and place parts in an assembly line. Accordingly, in each trial in which the robot performs the task, a linear time variant (LTV) version of its nonlinear dynamics model is obtained (using IL) and at the same time an optimal control input for this LTV is computed by a parametric optimization method. The optimal solution of each trial is stored in memory of the system to compute the optimal solution in the next trial (ILC). This procedure is repeated so that after a finite number of trials, the sequence of optimal solution of LTVs converges to the robot?s optimal control input. Two outstanding features of this method consist in the fact that the optimal control problem is solved gradually during some trials while the time necessary to compute th

Druh

J_x - Nezařazeno - Článek v odborném periodiku (Jimp, Jsc a Jost)

CEP obor

JB - Senzory, čidla, měření a regulace

OECD FORD obor

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Projekt

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Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2011

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Acta Technica

ISSN

0001-7043

e-ISSN

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Svazek periodika

56

Číslo periodika v rámci svazku

1

Stát vydavatele periodika

CZ - Česká republika

Počet stran výsledku

19

Strana od-do

23-42

Kód UT WoS článku

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EID výsledku v databázi Scopus

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